Device for controlling robot behavior and method for controlling it

ABSTRACT

The present invention relates to an apparatus that controls the actions of a pet robot. The apparatus comprises a portable terminal ( 3 ) having an electrode that may contact a user ( 2 ). When the user touches the electrode provided on the head of the robot ( 1 ), the user ID stored in the memory section of the portable terminal ( 3 ) is transmitted to the robot ( 1 ) through the user ( 2 ). The robot ( 1 ) retrieves the information associated with the user ID it has received, thereby identifying the user ( 2 ). The robot ( 1 ) may determine that the user ( 2 ) touched it in the past. In this case, the robot ( 1 ) performs an action in accordance with the information about what the user ( 2 ) did to it in the past.

TECHNICAL FIELD

[0001] The present invention relates to an apparatus for controlling theactions of a robot and a method of controlling the same. Further, theinvention relates a system for controlling the actions of a robot, anapparatus for controlling the system, and a recording medium storing theprogram for operating the system. More particularly, the inventionrelates to an apparatus and method for controlling a pet robot, causingthe same to perform various actions and to a system for controlling arobot.

BACKGROUND ART

[0002] Pet robots (e.g., AIBO (trademark)) have been commercialized forentertainment use and other uses. They can take various actions whenusers call them or touch them.

[0003] A robot of this type has sensors that detect the user's voice,the user's motion, and other stimuli. The robot stores a program thatmakes it “grow” to be a pet having specific character, in accordancewith the stimuli it received in the past. The robot will grow to befriendly with people if the user often plays with it. If the user doesnot play with the robot so often, the robot will grow to be fond ofplaying by itself.

[0004] It is desired that growth patterns, as many and as complex aspossible, be prepared for such an entertainment robot. For example, arobot friendly with people may be programmed to change it attitude tosome degree, from person to person who contacts with it. In this case,the robot will be lovelier to its user.

DISCLOSURE OF THE INVENTION

[0005] The present invention has been made in view of the foregoing. Anobject of the invention is to provide an apparatus for causing a petrobot or the like to take various actions.

[0006] To achieve the object, an action control apparatus according tothe present invention comprises: transmitting means for transmittingcontrol data which controls the actions of a pet robot; and transfermeans for contacting an electrically conductive member of the pet robotthrough a transfer medium, thereby to transfer to the pet robot thecontrol data transmitted by the transmitting means. The transfer mediummay be a human being.

[0007] The action control apparatus according to the invention may belocated at a prescribed position within an area where the pet robotwalks and move around. The transmitting means transmits control datarelated to the position at which the action control apparatus islocated. The action control apparatus is configured to be mounted on anarm of the human being.

[0008] The action control apparatus according to the invention mayfurther comprises input means for inputting the control data, memorymeans for storing the control data input from the input means, anddisplay means for displaying the control data stored in the memorymeans.

[0009] In this case, the control data includes dynamic data items andstatic data items concerning a user.

[0010] The action control apparatus according to the invention mayfurther comprise receiving means that receives predetermined informationtransmitted from the pet robot.

[0011] According to this invention there is provided a method ofcontrolling an action control apparatus for controlling the actions of apet robot. The method comprises: a step of transmitting control datawhich controls the actions of the pet robot; and a step of contacting anelectrically conductive member of the pet robot through a transfermedium, thereby to transfer to the pet robot the control datatransmitted by the transmitting means.

[0012] According to the invention there is provided a recording mediumthat stores a computer-readable program for controlling an actioncontrol apparatus for controlling the actions of a pet robot. Theprogram describes: a step of transmitting control data which controlsthe actions of the pet robot; and a step of contacting an electricallyconductive member of the pet robot through a transfer medium, thereby totransfer to the pet robot the control data transmitted by thetransmitting means.

[0013] A pet robot according to the present invention comprises:receiving means for receiving control data from an external device;action data acquiring means for acquiring action data corresponding tothe control data received by the receiving means; and action controlmeans for controlling actions in accordance with the action dataacquired by the action data acquiring means. The receiving means has anelectrically conductive member exposed to outside to contact anotherbody and is configured to receive the control data through theelectrically conductive member.

[0014] The pet robot according to the invention further comprises memorymeans for storing the action data which has been acquired by the actiondata acquiring means and which the action control means uses to controlthe actions.

[0015] In the pet robot of the invention, a plurality of electricallyconductive members of the type described are provided, and the actioncontrol means controls the actions in accordance with which electricallyconductive member has received the control data.

[0016] The pet robot of the invention further comprises detecting meansfor detecting a pressure that the other body applies to the electricallyconductive member when contacting the member. The action data acquiringmeans acquires action data corresponding to the pressure detected by thedetecting means.

[0017] A pet robot according to this invention may further comprise:communication means for communicating with a data processing apparatusconnected to a network, by way of the electrically conductive member;program acquiring means for acquiring a control program for the actioncontrol means, from the network as the communication means performscommunication; and updating means for updating the control program forthe action control means, in accordance with the control programacquired by the program acquiring means.

[0018] This pet robot according to the invention may further comprise adata processing apparatus located at a prescribed position within anarea where the pet robot walks and moves around and communication meansfor communicating with the data processing apparatus through theelectrically conductive member, and in which the receiving meansreceives, from the data processing apparatus, control data correspondingto the position of the data processing apparatus.

[0019] A method of controlling an autonomous pet robot, according to thepresent invention, comprises: a step of receiving control datatransmitted from an external device; a step of acquiring action datacorresponding to the control data received at the step of receivingcontrol data; and a step of controlling actions in accordance with theaction data acquired in the step of acquiring action data. In themethod, at the step of receiving control data, the control data isreceived through an electrically conductive member exposed to outside tocontact another body.

[0020] A recording medium according to this invention records a programfor controlling an autonomous pet robot. The program describes: a stepof receiving control data transmitted from an external device; a step ofacquiring action data corresponding to the control data received at thestep of receiving control data; and a step of controlling actions inaccordance with the action data acquired in the step of acquiring actiondata. Thus, at the step of receiving control data, the control data sreceived through an electrically conductive member exposed to outside tocontact another body.

[0021] A robot control system according to the present inventioncomprises an autonomous pet robot and an action control apparatus forcontrolling actions of the pet robot. The action control apparatuscomprises transmitting means for transmitting control data forcontrolling the pet robot and transfer means for contacting anelectrically conductive member of the pet robot through a transfermedium, thereby to transfer to the pet robot the control datatransmitted by the transmitting means. The pet robot comprises receivingmeans for receiving the control data transmitted from the action controlapparatus, action data acquiring means for acquiring action datacorresponding to the control data received by the receiving means, andaction control means for controlling actions in accordance with theaction data acquired by the action data acquiring means. The receivingmeans has an electrically conductive member exposed to outside tocontact another body and is configured to receive the control datathrough the electrically conductive member.

[0022] In the present invention, control data is transmitted to a petrobot to control the actions of the pet robot, through an electricallyconductive member provided on the robot and a transfer medium. In theinvention, the control data may be transmitted to the pet robot from anexternal apparatus, action data corresponding to the control data isacquired, and the pet robot is controlled in accordance with the actiondata acquired. The section for receiving the control data has anelectrically conductive member exposed to outside to contact anotherbody and is configured to contact another body. The control data isreceived through the electrically conductive member. Further, in theinvention, control data for to controlling the actions of the pet robotis transmitted to a pet robot through an electrically conductive memberprovided on the robot and a transfer medium.

[0023] In the present invention, the robot receives the control datafrom an action control apparatus, the action data corresponding to thecontrol data received is acquired, and the pet robot is controlled inaccordance with the action data acquired. The section for receiving thecontrol data has an electrically conductive member exposed to outside tocontact another body and is configured to contact a transfer medium. Thecontrol data is received through the electrically conductive member.

[0024] Other objects of the invention and the specific advantagesachieved by the invention will be more apparent from the followingdescription of the embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

[0025]FIG. 1 shows the structure of a robot control system according tothe present invention;

[0026]FIG. 2 is a perspective view of the robot shown in FIG. 1;

[0027]FIG. 3 is a block diagram showing the internal configuration ofthe robot shown in FIG. 1;

[0028]FIG. 4 is a block diagram illustrating the functions of the CPUincorporated in an apparatus for controlling the actions of the robot;

[0029]FIG. 5 is a diagram representing the action transition of therobot shown in FIG. 1;

[0030]FIG. 6 is a diagram showing the position transition of the robotshown in FIG. 1;

[0031]FIGS. 7A and 7B depict the outer appearance of a portable terminalaccording to this invention;

[0032]FIG. 8 is a block diagram showing the internal configuration ofthe portable terminal;

[0033]FIGS. 9A and 9B are graphs that represent transfercharacteristics;

[0034]FIGS. 10A and 10B are other graphs representing transfercharacteristics;

[0035]FIG. 11 is a flowchart explaining the process that the portableterminal performs;

[0036]FIG. 12 is a diagram illustrating a data format;

[0037]FIG. 13 is a flowchart explaining the process that the robotaccording to the invention performs;

[0038]FIG. 14 is a block diagram showing the internal configuration ofanother robot according to this invention;

[0039]FIG. 15 is a diagram illustrating another data format; and

[0040]FIG. 16 shows the structure of another robot control systemaccording to the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION

[0041] Embodiments of the invention will be described, with reference tothe accompanying drawings.

[0042] A robot control system according to this invention has thestructure illustrated in FIG. 1. In the robot control system, a petrobot 1 (hereinafter referred to as “robot”) can identify the user 2 whotouches it.

[0043] The user 2 wears a portable terminal 3 on the right wrist. Theterminal 3 is shaped like a wristwatch. When the user 2 touches theelectrically conductive electrode 15 provided on the head of the robot1, the user ID stored in the portable terminal 3 is supplied via theuser 2 (human body) to the robot 1. The robot 1 checks the user IDagainst the user IDs registered in it, thus identifying the user 2. Thatis, the portable terminal 3 has an electrode 75 (see FIG. 8, laterdescribed) made of electrically conductive material and contacting theuser 2. As long as the user 2 wears the portable terminal 3 and touchesthe pet 1, the terminal 3 repeatedly supplies the user ID to the robot 1via the user 2.

[0044] When the robot 1 identifies the user 2, it acquires the dataabout the past, which corresponds to the user ID. The robot 1 performsan action in accordance with the data. For example, it wags its tail ordoes a similar action, showing its friendliness to the user 2, if theuser 2 often stroked it in the past. If robot 2 was beaten by the user 2in the past, it looks the other way or takes a similar action. Thus, therobot 1 can perform different actions to different persons.

[0045] In the system of FIG. 1, the portable terminal 3 is shaped like awristwatch. The terminal 3 may have any other shape, nonetheless,provided that it can contact the user 2. It may be provided in the formof, for example, an accessory such as a necklace or a ring, a PDA(Personal Digital Assistant), a mobile telephone, or the like.

[0046]FIG. 2 shows the outer appearance of the robot 1 according to theinvention, and FIG. 3 is a block diagram depicting the internalconfiguration of the robot 1.

[0047] The robot 1 according to this invention is shaped like a dog, afour-legged animal, and has a trunk unit 11. Leg units 12A and 12B arecoupled to the front part of the trunk unit 11. Leg units 12C and 12D tothe rear part of the trunk unit 11. The head unit 13 and the tail unit14 are coupled to the front end and rear end of the trunk unit 11,respectively. The head unit 13 has an electrode 15 made of electricallyconductive material, exposed outside and positioned to be touched by theuser 2. The tail unit 14 extends from the base section 14B located onthe upper surface of the rear part of the trunk unit 11. The tailsection 14 can bent and swing.

[0048] As FIG. 3 shows, the trunk unit 11 contains a controller 20. Thecontroller 20 comprises a CPU (Central Processing Unit) 20A, a memory20B, and a memory 20C. The CPU 20A controls the other components of thecontroller 20. The memory 20B stores the program the CPU 20A executes tocontrol the other components of the controller 20. The memory 20C storesthe user IDs registered in the past, the data representing the actionsthe robot 1 received from the users identified by the user IDs, and thedata representing the personality of each user.

[0049] The trunk unit 11 incorporates a communications section 21. Thecommunications section 21 controls radio communication or cablecommunication. This makes it possible to install the latest version ofthe program into the memory 20B of the controller 20, in place of theold-version program. If the communications section 21 carries out radiocommunication, the tail unit 14 can be used as antenna.

[0050] The trunk unit 11 incorporates a battery and the like, inaddition to the communications section 21. The battery (not shown)functions as the power supply of the robot 1.

[0051] The head unit 13 has a loudspeaker 29 at a prescribed position.The loudspeaker 29 functions as “mouth” of the robot 1. The head unit 13has a microphone 25, a CCD (Charge Coupled Device) camera 26, and atouch sensor 27, too, which are arranged at predetermined positions. Themicrophone 25, CCD camera 26 and touch sensor 27 are sensors that detectstimuli applied to the robot 1 from outside. Namely, the microphone 25serves as “ears” to detect sound; the CCD camera 26 functions as “eyes”to detect light; and the touch sensor 27 works as a touch-sensing organto detect pressure or the like.

[0052] When the user 2 wearing the portable terminal 3 touches theelectrode 15 provided on the head unit 13, the electrode 15 receives theuser ID of the user 2 via the user 2. The user ID received at theelectrode 15 is supplied to a demodulating section 28. The section 28demodulates the user ID, which is transferred to the controller 20.

[0053] Actuators are provided at the joints of each of the leg units 12Ato 12D. An actuator is provided at the joint between each leg unit andthe trunk unit 11. Two actuators are provided, respectively, at thejoint between the trunk unit 11 and the head unit 13 and the jointbetween the trunk unit 11 and the tail unit 14. All the actuators movethe parts of the robot body in accordance with the instructions suppliedfrom the controller 20.

[0054] The microphone 25, which is arranged on the head unit 13, detectsthe ambient sound including the speech the user 2 utters. The microphone25 converts the sound into an audio signal, which is output to thecontroller 20. The CCD camera 26 photographs the surrounding scenery andgenerates an image signal representing the scenery. The image signal issupplied to the controller 20. The touch sensor 27 is arranged, forexample, atop the head unit 13. It detects the pressure applied to thehead unit 13 as the user performs a physical action such as “stroking”or “beating” on the head unit 13. The sensor 27 converts the pressureinto a pressure signal, which is supplied to the controller 20.

[0055] The controller 20 determines the ambient conditions of the robot1 and whether the robot 2 has received the user's instructions, from theaudio signal, image signal and pressure signal it has received from themicrophone 25, CCD camera 26 and touch sensor 27. The controller 20determines what action the robot 1 should take next, from the ambientconditions and the instructions and from the data about the user 2identified by the user ID supplied to the electrode 15. To make therobot 1 take this action, the controller 20 drives the actuators,shaking the head unit 11 sideways or up and down, moving the tail unit14, or driving the leg units 12A to 12D to make the robot 1 walk. Ifnecessary, the controller 20 generates synthesized sound, supplies thesound to the loudspeaker 29 and causes the loudspeaker 29 to output thesound. Further, the controller 20 may turn on, turn off or repeatedlyturn on the LEDs (Light Emitting Diodes) (not shown) that are providedat the eye positions of the robot 1.

[0056] Thus, the robot 1 autonomously acts in accordance with theenvironmental conditions and in response to the action of the user 2.

[0057]FIG. 4 shows the function blocks incorporated in the controller 20illustrated in FIG. 3. The function blocks shown in FIG. 4 areimplemented when the CPU 20A executes the control program stored in thememory 20B. The controller 20 comprises a sensor-input processingsection 50, an emotion/instinct modeling section 51, anaction-determining section 52, a position-changing section 53, a controlsection 54, and a voice-synthesizing section 55. The sensor-inputprocessing section 50 receives the outputs of the microphone 25, CCDcamera 26 and touch sensor 27, which are sensors that have detected theexternal stimuli. The section 50 processes the outputs to recognize theenvironmental conditions of the robot 1 and the like. Theemotion/instinct modeling section 51 accumulates the data representingthe environmental conditions that the section 50 has recognized andgenerates data representing the motion and instinct. Theaction-determining section 52 determines what action the robot 1 shouldtake, from the data generated by the sensor-input processing section 50.The position-changing section 53 causes the robot 1 to perform theaction determined by the action-determining section 52. The controlsection 54 drives and controls the actuators. The voice-synthesizingsection 55 generates synthesized sound.

[0058] The sensor-input processing section 50 receives a speech signalfrom the microphone 25, an image signal from the CCD camera 26, and apressure signal from the touch sensor 27. From these signals the section50 determines the environmental conditions, the particular action of theuser 2, the instructions of the user 2, and the like. The section 50generates data showing what it has determined and supplies the data tothe emotion/instinct modeling section 51 and the action-determiningsection 52.

[0059] That is, the sensor-input processing section 50 recognizes thespeech from the speech signal supplied from the microphone 25. Thesection 50 generates an instruction from the speech recognized, whichis, for example, “walk,” “stay” or “run after the ball.” The section 50supplies the instruction and any other meaningful information to theaction-determining section 52.

[0060] The sensor-input processing section 50 performs image recognitionby using the image signal supplied from the CCD camera 26. If thesection 50 may detect, for example, a “red, round object,” a “wallperpendicular to the ground and having a height greater than aprescribed value” or the like. In this case, the section 50 generatesimage-recognition data representing the existence of a ball, a wall, orthe like. This data is supplied to the emotion/instinct modeling section51 and the action-determining section 52.

[0061] The sensor-input processing section 50 processes the pressuresignal supplied from the touch sensor 27. If the pressure signalrepresents a pressure equal to or higher than a prescribed value andapplied for a short time, the sensor-input processing section 50determines that the robot 1 has been beaten (or scolded). If thepressure signal represents a pressure lower than the prescribed valueand applied for a long time, the section 50 determines that the robot 1has been stroked (or praised). The section 50 generates the datarepresenting the action to the robot 1 and supplies it as meaningfulinformation to the emotion/instinct modeling section 51 and theaction-determining section 52. The robot 1 can therefore change itsaction in accordance with the pressure detected.

[0062] The sensor-input processing section 50 processes the user IDsupplied from the portable terminal 3 the user 2 wears. The user ID hasbeen modulated to propagate efficiently through the user 2. Thedemodulating section 28 therefore demodulates the user ID, which issupplied to the sensor-input processing section 50.

[0063] The sensor-input processing section 50 receives the user IDsregistered in the past and stored in the memory 20C. The section 50retrieve the user ID identical to the user ID supplied from the portableterminal 3. From the user ID it has retrieved, the sensor-inputprocessing section 50 determines whether the user 2 is one who hasplayed with it. The section 50 generates data showing whether the user 2has placed with the robot 1, as meaningful information, to theemotion/instinct modeling section 51 and the action-determining section52.

[0064] If the sensor-input processing section 50 determines that theuser 2 has played with the robot 1, the meaningful information containsthe data acquired of the user 2 in the past. For example, if theinformation shows that the user 2 has stroked the robot 1, it containsthe numerical data showing the number of times the user 2 has strokedthe robot 1.

[0065] The emotion/instinct modeling section 51, which will be describedlater in detail, determines the emotion the robot 2 shows to the user 2,such as “pleasure,” “sadness,” “anger,” “joy” or the like, from the dataacquired of the user 2 in the past and contained in the meaningfulinformation. The data representing the emotion thus determined issupplied to the action-determining section 52. Therefore, the robot 1can recognizes the user 2 and can take an action to the user 2 inaccordance with the data representing how the user 2 treated the robot 1in the past.

[0066] The emotion/instinct modeling section 51 manages an emotion modeland an instinct model. The emotion model and the instinct model expressthe emotion and instinct of the robot 1, respectively.

[0067] The emotion model expresses various emotions, such as “pleasure,”“sadness,” “anger,” “joy” and like, each in a value that ranges from 0to 100. The emotion model changes the value of emotion in accordancewith the meaningful information supplied from the sensor-inputprocessing section 50, the time that has elapsed, and the like.

[0068] The instinct model expresses various kinds of instincts, such as“appetite,” “desire for sleep,” “desire for exercise” and like, each ina value that ranges from 0 to 100. The instinct model changes the valueof instinct in accordance with the meaningful information supplied fromthe sensor-input processing section 50, the time that has elapsed, andthe like.

[0069] The emotion/instinct modeling section 51 supplies the emotionmodel and the instinct model to the action-determining section 52. Theemotion model and the instinct model, which change in value as indicatedabove, express the emotion and instinct that the robot 1 has at present.

[0070] The action-determining section 52 determines the action that therobot 1 should take next, from the meaningful information supplied fromthe sensor-input processing section 50, the emotion model and instinctmodel supplied from the emotion/instinct modeling section 51, the timethat has elapsed, and other information. The data showing the nextaction thus determined is supplied, as an instruction, to theposition-changing section 53. That is, the action-determining section 52controls a limited automaton that can respond to any state to which therobot 1 may react. Namely, the section 52 manages an action model thatdefines the actions the robot 1 may perform.

[0071] The action-determining section 52 changes the state to which theautomaton responds, in accordance with the meaningful informationsupplied from the sensor-input processing section 50, the values of theemotion and instinct models supplied from the emotion/instinct modelingsection 51, the time that has elapsed, and other information. Thesection 52 determines the action the robot 1 should take in response tothe state thus changed.

[0072] As shown in FIG. 5, state ST3, state ST4 and state ST5 mayrepresent “standing,” “sleeping” and “running after a ball,”respectively. Assume that the automaton is responding to state ST5,i.e., “running after a ball,” and that action-determining section 52receives from the sensor-input processing section 50 the meaningfulinformation of “the ball has disappeared.” Then, the section 52 transitsthe sate, from state ST5 to state ST3. In this case, theaction-determining section 52 determines that the next action the robot1 should take is “standing.”

[0073] The action-determining section 52 may receive meaningfulinformation “Stand!” while assuming the state ST4 of “sleeping.” In thiscase, the section 52 transits the state, from state ST4 to state ST3 anddetermines that the next action the robot 1 should take is the action of“standing” which corresponds to state ST3.

[0074] The action-determining section 52 transits the state, from one toanother, upon detecting a specific trigger. In other words, the section52 transits the state when the time the robot 1 has been performing theaction corresponding to the present state reaches a prescribed value,when the section 52 receives a particular meaningful information, whenthe emotion/instinct model supplied from the emotion/instinct modelingsection 51 is equal to or less than, or equal to or more than, a presetvalue, or when a similar event takes places. As described above, theaction-determining section 52 transits the state of the limitedautomaton of FIG. 5 in accordance with not only the meaningfulinformation supplied from the sensor-input processing section 50, butalso the values of the emotion and instinct models supplied from theemotion/instinct modeling section 51. The state may therefore be changedto various ones, depending on the values of the emotion and instinctmodels, even if the meaningful information input remains the same. As aresult, the action-determining section 52 generates, for example, anaction instruction of “Shake!” when the user 2 holds out the hand to therobot 1, if the emotion and the instinct models express “not angry” and“not hungry” and the meaningful information is “a hand stretched underthe nose.” The action instruction is supplied to the position-changingsection 53.

[0075] The action-determining section 52 generates an action instructionto the position-changing section 53, causing the same to make the robot1 lap the palm of the hand if the emotion and the instinct modelsexpress “not angry” and “not hungry” and if the meaningful informationis “a hand stretched under the nose.” This action instruction issupplied to the position-changing section 53.

[0076] Further, the action-determining section 52 generates an actioninstruction to the position-changing section 53, causing the same tomake the robot 1 look away if the emotion model expresses “angry” and ifthe meaningful information is “a hand stretched under the nose,” even ifthe instinct model expresses “hungry” or “not hungry.” The actioninstruction generated is supplied to the position-changing section 53.

[0077] The action-determining section 52 can determine actionparameters, such as the walking speed, speed and distance of moving thelegs, and the like, from the emotion and instinct expressed by theemotion/instinct model supplied from the emotion/instinct modelingsection 51. Action instructions including these parameters are suppliedto the position-changing section 53.

[0078] The action-determining section 52 generates an action instructionin addition to the action instructions for causing the robot 1 to movethe head and legs. This action instruction causes the robot 1 to utterspeeches. The action instruction is supplied to the voice-synthesizingsection 55. It contains the data representing the voice thevoice-synthesizing section 55 should synthesize.

[0079] Upon receipt of the action instruction from theaction-determining section 52, the voice-synthesizing section 55generates a text data that corresponds to the information contained inthe action instruction. The section 55 supplies the text data to theloudspeaker 29. The loudspeaker 29 generates a synthesized voice fromthe text data. Thus, the robot 1 therefore utters a speech.

[0080] The position-changing section 53 receives the action instructionfrom the action-determining section 52. In accordance with the actioninstruction the section 52 generates position change data to make therobot 1 change the position it take at present to a new position. Theposition change data is supplied to the control section 54. The newposition is determined from the physical properties of the robot 1, suchas the weight and the connection of body parts, and from the directionsand angles in and by which actuators can rotate the joints.

[0081] The new position may be one that the robot 1 can takesimmediately or another that the robot 1 cannot take at once. If therobot 1 sprawls on the floor, stretching out the legs, it canimmediately take a sitting position, but cannot not take a standingposition at once. The robot 1 needs to pull the legs toward the trunkfirst, before rising on its legs. That is, the robot 1 performs twoactions in sequence.

[0082] The new position may be one that the robot 1 cannot immediatelyassume in safety. For example, the robot 1 standing on the four feetcannot raise the forelegs, without collapsing. To prevent the robot 1from taking any dangerous position, the position-changing section 53stores data items representing the positions that the robot 1 can takeimmediately. The section 53 supplies one of these data items to thecontrol section 54 if the action instruction supplied from theaction-determining section 52 designates a position that the robot 1 canassume at once. The action instruction may not designate a position thatthe robot 1 cannot take immediately. If so, the section 53 firstsupplies a data item representing a position the robot 1 can take atonce to the control section 54 and then supplies the data item showingthe desired new position to the control section 54 after the robot 1assumes the position represented by the data item first supplied to thecontrol section 54. Thus, the robot 1 will not take a dangerous positionand will not collapse at all.

[0083] More specifically, the position-changing section 53 stores anorientation chart illustrated in FIG. 6. As FIG. 6 shows, theorientation chart shows nodes 1 to 5 that correspond to variouspositions the robot 1 can assume. Upon receipt of an instruction fromthe action-determining section 52, the position-changing section 53searches for an action route linking the node showing the action therobot 1 takes at present to any other node that indicates the action therobot 1 should take next. When the position-changing section 53 finds anaction route, it generates data that represents the action route, or asequence of the positions that the robot 1 should take one afteranother.

[0084] Assume that the robot 1 takes now is represented by the node 2indicating a “lying position.” When the position-changing section 53receives an action instruction “sit!,” it generates position change datadesignating the “sitting position” and supplies the data to the controlsection 54. This is because the robot 1 now taking the “lying position”(node 2) can immediately assume the “sitting position” (node 5).

[0085] Assume again that the robot 1 takes now is represented by thenode 2 indicating a “lying position.” When the position-changing section53 receives an action instruction designating “walk!,” it generatesposition change data designating the “walking position” and suppliesthis data to the control section 54. The section 53 searches for anaction route that begins at the node 2 for “lying position” and ends atthe node 4 for “walking position.” Thus, the section 53 finds an actionroute consisting of the node 2 for “lying position,” node 3 for“standing position” and node 4 for “walking position.” In this case, theposition-changing section 53 generates two position change instructions,one for “stand” and the other for “walk.” These position changeinstructions are supplied to the control section 54.

[0086] The control section 54 generates control signals from theposition change instructions supplied from the position-changing section53. The control signals are supplied to the actuators. Controlled bythese signals, the actuators drive the body parts of the robot 1,whereby the robot 2 makes a prescribed action.

[0087]FIGS. 7A and 7B depict the outer appearance of a portable terminal3. More precisely, FIG. 7A shows the front of the portable terminal 3,which faces outwards while the terminal 3 remains on the user's wrist.On the other hand, FIG. 7B illustrates the back of the terminal 3, whichcontacts the wrist while the terminal 3 remains on the user's wrist.

[0088] As FIG. 7A shows, the terminal 3 comprises a case 71, displaysection 72, and operation buttons 73. The display 72 and the buttons 73are arranged on the front of the case 71.

[0089] The display section 72 is, for example, an LCD (Liquid CrystalDisplay) or the like. The display section 72 can display various staticdata items and dynamic data items about the user 2, which the user 2 hasinput. The static data items are, for example, the name, age, birthdayand blood type. The dynamic data items are, for example, the temperatureand heartbeat rate. The display section 72 displays the time, too.

[0090] The operation buttons 73 are pushed by the user 2 to input thestatic data items and dynamic data items. When the user 2 pushes thebuttons 73, numerals, letters and symbols are input.

[0091] Straps 74A and 74B are fastened to the upper and lower edges ofthe case 71. The user 2 may wrap the straps 74A and 74B around the wristto wear the portable terminal 3.

[0092] As FIG. 7B shows, an electrode 75 is provided on the back of thecase 71. The electrode 75 is made of electrically conductive material.While the user 2 is wearing the portable terminal 3 on the wrist, theelectrode 75 remains in contact with the user 2 or remain electricallyconnected to the user 2 by virtue of capacitive coupling if a thininsulating film covers the electrode 75.

[0093] To enhance the data transfer efficiency via the human being,other electrodes 75 may be provided on the backs of the straps 74A and74B, in addition to the electrode 75 provided on the back of the case71.

[0094]FIG. 8 is a block diagram showing the internal configuration ofthe portable terminal 3 (case 71). The components equivalent to thosealready described above are designated at the same reference numeralsand will not be described in detail.

[0095] A CPU 81 controls the other components of the portable terminal3. In the terminal 3, a bus 82 connects the processing sections to theCPU 81. The CPU 81 writes the control program stored in a ROM (Read OnlyMemory) 83 into a RAM (Random Access Memory) 84. The CPU 81 causes theprocessing sections to operate in accordance with the control program.

[0096] The modulating section 85 modulates signals to be transmitted tothe robot 1, in a specific scheme such as FSK (Frequency Shift Keying).The signals thus modulated are transmitted from the electrode 75.

[0097] The user ID storage section 86 stores the user ID that hasregistered. The section 86 stores the information the user 2 has inputby operating the operation buttons 73.

[0098] Data is transferred between the portable terminal 3 and the robot1. More precisely, data is transferred between the electrode 75 of theterminal 3 and the electrode 15 provided on the robot 1 through thehuman being (i.e., user 2) as indicated above.

[0099] The characteristic of the data transfer via the human being willbe explained. Jpn. Pat. Appln. Laid-Open Publication No. 7-170215discloses the data transfer characteristic in detail.

[0100] The major component of the human being is water that containssalt. The human being can be regarded as an electrically conductivevessel if the carrier frequency is in the order of several megahertz(MHz). The DC resistance between the hands detected by, for example, atester ranges from 500 KΩ to 2 MΩ or 3 MΩ, depending on the condition ofthe hands.

[0101]FIGS. 9A and 9B show the transfer characteristic that the humanbeing exhibits to alternating currents. More correctly, FIG. 9A shows atransfer characteristic of the human being, determined by a spectrumanalyzer over a frequency range of 1 MHz to 20 MHz. FIG. 9B shows atransfer characteristic of the human being, determined by the spectrumanalyzer over a frequency range of 1 MHz to 30 MHz. Either transfercharacteristic was determined in the case where a coaxial cable wasconnected to both the tracking generator and the input terminal. Theground terminals of the lines constituting the coaxial cable wereconnected to each other, thus preventing them from acting as an antenna.

[0102] As FIGS. 9A and 9B show, the transfer characteristic is almostconstant in the frequency range of 1 MHz to 20 MHz. It is an attenuationranging from 30 dB to 40 dB.

[0103] In the process of determining the transfer characteristics shownin FIGS. 9A and 9B, the output impedance of the tracking generator andthe input impedance of the spectrum analyzer were set at 75Ω. Hence, theattenuation must be as much as −80 dB if the impedance between the handsis 1 MΩ. In fact, however, the attenuation was far smaller. This provesit possible to transmit signals through the human being.

[0104] The data-transmitting side is considered to be a tiny dipoleantenna. The electromagnetic field emanating from the dipole antenna hasbeen thoroughly analyzed. The results of the analysis show teach thatthe electromagnetic field the human being generates is transmitted fromthe tiny dipole antenna. The intensity of the electromagnetic field isexpressed as a vector sum of three components that are inverselyproportional to the distance R from the antenna, the square of distanceR and the cube of distance R, respectively. The three components arecalled “radiant electromagnetic field,” “inductive electromagneticfield” and “static electromagnetic field,” respectively. The relationbetween these fields is disclosed in detail in Jpn. Pat. Appln.Laid-Open Publication No. 7-170215 mentioned above.

[0105]FIG. 10A is a graph representing the relation between theintensities of the electric fields for the distance R, the square ofdistance R and the cube of distance R, on the one hand, and the distancefrom the antenna, on the other. FIG. 10B is a graph illustrating therelation between the intensities of the electric fields emanating from aλ/2.2 dipole antenna, a 3.4 cmø loop antenna, an 8 cmø loop antenna anda 3.4 cmø loop antenna, on the one hand, and the distances from theseantennas, which is observed when the transmission frequency is 200 MHzand the transmission terminal voltage is 100 dBμV (75Ω).

[0106] As FIG. 10A shows, the radiant electromagnetic field (the term of1/R), the inductive electromagnetic field (the term of 1/R²), and thestatic electromagnetic field (1/R³) have the same intensity at thedistance of λ/2π. If the distance is shorter than this, the intensitiesof the electromagnetic fields will greatly increase. If f=11 MHz, thedistance is about 4.3 m. The user directly touches the robot 1. In viewof this, it is desired that static magnetic fields be used in therobot-controlling system according to this invention.

[0107] The intensity of the electric field should better be fall withina range that is not limited by the regulations concerning EMI(Electromagnetic Inference). For example, it may be 500 μV/M or less ata frequency of 332 MHz or less. If so, data transfer between theportable terminal 3 and the robot 1 can be ensured.

[0108] How the robot 1 receives the user ID transmitted from theportable terminal 3 and acts in accordance with the user ID will bedescribed. First, it will be explained how the portable terminal 3transmits the user ID, with reference to the flowchart of FIG. 11.

[0109] At Step S1, the CPU 81 determines whether the potential at theelectrode that contacts the human being is higher than a thresholdvalue. That is, the CPU 81 determines whether it is possible to transferdata to the robot 1 via the user 2.

[0110] If the potential is not higher than the threshold value, or if itis impossible to achieve stable data transfer, the CPU 81 waits untilthe potential reaches the threshold value. When the potential reachesthe threshold value, the process goes to Step S2.

[0111] At Step S2, the CPU 81 reads the user ID stored in the user IDstorage section 86. The user ID may be specific to the portable terminal3. If the user ID cannot be changed, however, the robot 1 will identifytwo or more persons who use the terminal 3 as the same person. In viewof this, any user may operate the buttons 73 to input his or her own IDinto the user ID storage section 86. Once the user IDs have been thusinput, any user can selects his or her own ID, which will be transmittedfrom the electrode 75.

[0112] At Step S3, the CPU 81 causes the modulating section 85 tomodulate the user ID read from the user ID storage section 86. The userID modulated is transmitted from the electrode 75. Thereafter, theprocess returns to Step S1, whereby Steps S1 to S3 are repeated. Thus,the user ID is repeatedly transmitted from the terminal 3 as long as thepotential at the electrode contacting the human being remains higherthan a threshold value. The robot 1 can therefore verify the user IDrepeatedly until it recognizes the user 2.

[0113] The user ID is transmitted to the human being in, for example,the format shown FIG. 12.

[0114] As FIG. 12 shows, the data is composed of two data items, i.e., aheader and user ID data. Both data items consist of eight bits each. Theheader is code 0×ff (11111111). The user ID is code 0×bc (10111100). Theuser ID should not be code 0×ff (11111111) or code 0×00 (00000000) sothat it may not be confused with the header or may not be regarded as acommunication pause. Consisting of eight bits, the user ID can have 254different values.

[0115] How the robot 1 verifies the user ID will be described, withreference to the flowchart of FIG. 13.

[0116] At Step S11, the CPU 20A of the controller 20 determines whetherthe user ID transmitted from the portable terminal 3 has reached thedemodulating section 28 via the human being (user 2) and the electrode15 provided on the bead unit 13. If YES, the demodulating section 28demodulates the user ID received at the electrode 15. The user IDdemodulated is supplied to the CPU 20A.

[0117] The CPU 20A waits until it receives the user ID. Upon receipt ofthe user ID, the CPU 20A goes to Step S12.

[0118] At Step S12, the CPU 20A verifies the user ID it has received.That is, the CPU 20A searches the memory 20C to determine whether thememory 20C stores the user ID it has received.

[0119] At Step S13, the CPU 20A determines whether the user identifiedwith the user ID at Step S12 has ever touched (or played with) the robot1, from the information stored in the memory 20C.

[0120] If the CPU 20A determines that the user ID received is notregistered (that is, if the user has not ever touched the robot 1), itgoes to Step S14. The information showing that the user 2 touches therobot 1 for the first time is supplied, as meaningful information, tothe emotion/instinct modeling section 51 and the action-determiningsection 52.

[0121] At Step S14, the CPU 20A writes the user ID into the memory 20C.

[0122] At Step S15, the CPU 20A causes the robot 1 to make the firstreaction to the user 2. More specifically, the action-determiningsection 52 receives the meaningful information supplied from thesensor-input processing section 50 and indicating that the user 2contacts the robot 1 for the first time. The section 52 then changes thestate of the limited automaton described above, referring to the actiontransition chart of FIG. 5 and using the information supplied from theemotion/instinct modeling section 51 and indicating the emotion andinstinct of the robot 1. Thus, the section 52 determines the action thatthe robot 1 should take next. When the user 2 touches the robot 1 forthe first time, the action-determining section 52 may receivesinformation showing that the emotion parameter (pleasure) and theinstinct parameter (desire for exercise) are high. In this case, thesection 52 supplies to the position-changing section 53 an actioninstruction for making the robot 1 act as if asking the user 2 to playwith him, hesitatingly. When the user 2 touches the robot 1 for thefirst time, the action-determining section 52 may receives informationshowing that the emotion parameter (fear) is very high. In this case,the section 52 supplies to the position-changing section 53 an actioninstruction for making the robot 1 act as if start running away from theuser 2.

[0123] The position-changing section 53 generates position change datafrom the action instruction and supplies the data to the control section54. The control section 54 receives the position change data and drivesthe actuators in accordance with the position change data. The robot 1therefore performs an action.

[0124] At Step S16, the CPU 20A writes the information about the actionthat the robot 1 took at Step S15, into the memory 20C, along with theuser ID. Thus, the memory 20C stores action data that represents therobot 1 “asked the user 2 to play with him, hesitatingly” or “startrunning way from the user.” When the user 2 touches the robot 1 for thesecond time, the information about this touch influences the decisionthe action-determining section 52 will make. Thereafter, the processreturns to Step S11. Steps S11 and the following steps are repeated.

[0125] At Step S13, the CPU 20A may determine that the user has evertouched the robot 1, by finding that the user ID it receives has beenregistered. If this is the case, the CPU 20A goes to Step S17.

[0126] At Step S17, the CPU 20A reads the action information stored inthe memory 20A in association with the user ID and causes the robot 1 toperform the action represented by the action information. Theemotion/instinct modeling section 51 changes the emotion parameter andthe instinct parameter on the basis of the information supplied from thesensor-input processing section 50 and indicating how the robot 1 actedto the user 2 in the past and what state the robot 1 assumes at presentin terms of emotion and instinct. The parameters thus changed aresupplied to the action-determining section 52. The section 52 changesthe state of the limited automaton in accordance with the parameters ithas received, thus determining the next action the robot 1 should take.

[0127] Assume that the sensor-input processing section 50 supplies theinformation showing that the user 2 “stroked” the robot 1 in the past,to the emotion/instinct modeling section 51. Then, the section 51 setsthe emotion parameter at high “pleasure.” The section 51 supplies, tothe action-determining section 52, the emotion parameter thus set andthe information showing that the instinct parameter (desire forexercise) is high at present. From the emotion parameter and thisinformation the action-determining section 52 generates an actioninstruction to make the robot 1 to “run to the user 2, wagging the tailunit 14 as much as possible and run to the user 2.” The actioninstruction is supplied to the position-changing section 53. Theposition-changing section 53 generates a position change data, which issupplied to the control section 54. The control section 54 drives theactuators, whereby the robot 1 acts in accordance with the actioninstruction.

[0128] At Step S18, the CPU 20A stores the information representing theaction the robot 1 assumes to the user 1, into the memory 20C. Thememory 20C accumulates the data items showing the actions the robot 1took to the user 2, generating parameter information that represents thefriendly behavior the robot 1 assumes to the user 2. Hence, when theuser 2 touches the robot 1 again, the robot 1 will behave friendly tothe user 2. The process returns to Step S11, and Steps S11 and thefollowing steps will be repeated.

[0129]FIG. 14 is a block diagram showing the internal configuration ofanother robot 1.

[0130] This robot 1 has electrodes 15B, 15C and 15D in addition to theelectrode 15 provided on the head unit 13, and demodulating sections28B, 28C and 28D in addition to the demodulating section 28 provided inthe head unit 13. The electrode 15B and the demodulating section 28B areprovided on and in the leg unit 12A. The electrode 15C and thedemodulating section 28C are provided on and in the leg unit 12B. Theelectrode 15D and the demodulating section 28D are provided on and inthe tail unit 14. Hence, the CPU 20A can make the robot 1 perform morecomplicated actions, in accordance with the position of the electrodethat receives the user ID and the information showing the action theuser 2 who touches the electrode took in the past.

[0131] Assume that action information is stored, which shows that theuser 2 keep holding the tail unit 14 for a long time. Then, the CPU 20Acauses the robot 1 to act as if not allowing the user 2 to touch thetail unit 14, though allowing other users to touch the tail unit 14.

[0132] The robot 1 further has electrodes 15E and 15F and demodulatingsections 28E and 28F. The electrode 15E and the demodulating section 28Eare provided on and in the front part of the trunk unit 11. Theelectrode 15F and the demodulating section 28F are provided on and inthe rear part of the trunk unit 11. Thus, a plurality of electrodes anda plurality of demodulating sections may be provided on and in the sameunit.

[0133] In the robot-controlling system described above, the portableterminal 3 transmits only a user ID to the robot 1. Nevertheless, theterminal 3 may transmit various information items, as well as the userID, to the robot 1, in order to control the robot 1.

[0134] For example, the portable terminal 3 may transmit the static dataitems about the user 2, such as name, sex, birthday and blood type, andthe dynamic data items of the user, such as temperature and heartbeatrate. The user 2 can input the static data items by operating thebuttons 73 provided on the portable terminal 3. The terminal 3 hasvarious sensors that detect the dynamic data items.

[0135]FIG. 15 is a diagram illustrating the data format in which thedata other than the user ID, for example the static and dynamic dataitems about the user, is transmitted from the portable terminal 3.

[0136] In the data format, there is describes the total amount of data(total number of bytes) that the terminal 3 transmits after the headerand the user ID, both explained with reference to FIG. 12. Describednext to the total amount of data is data items 1 to n, which aretransmitted to the robot 1. The static data items including the birthdayof the user 2 may be supplied from the electrode 15 to the CPU 20A. Inthis case, the CPU 20A refers to the present time presented by the clockincorporated in the controller 20 and determines whether it is thebirthday today. If YES, the CPU 20A can cause the robot 1 to act as ifcelebrate the user's birthday.

[0137] From the electrode 158 the CPU 20A may receive, for example, thetemperature data, which is a dynamic data item. If so, the CPU 20Acompares the temperature data with the data stored in the memory 20C andrepresenting the user's normal temperature. If the CPU 20A finds thatthe temperature is higher than the normal temperature, it can cause therobot 1 to act as if worrying about the user 2. In this case, too, theaction of the robot 1 is influenced by the emotion parameter generatedfrom the accumulated data that represents the actions the user 2 took tothe robot 1 in the past.

[0138] As described above, the electrodes 15 and 15B to 15F provided onthe robot 1 explained with reference to FIGS. 3 to 14 only receive datafrom outside. Nevertheless, these electrodes may transmit data to anyconductive members that contact them. (Hereinafter, these electrodesshall be collectively referred to as “electrode 15” if they need not bedistinguished from one another.) Then, the electrode 15 can transmitvarious requests to the portable terminal 3 that the user 2 touching therobot 1 wears. For instance, the electrode 15 can transmit a message tothe user 2, requesting that the user 2 should talk to the robot 1.

[0139] To transmit data from the electrode 15 on the robot 1 to anyconductive member that contacts the electrode 15, the demodulatingsection 28 and the demodulating sections 28B to 28F, all provided on therobot 1, must be replaced by modulating/demodulating sections that canmodulate and demodulate data.

[0140] The data transmission between the robot 1 and the portableterminal 3 may be interactive data transmission accomplished by afull-duplex system. Alternatively, the data transmission may be achievedby a half-duplex system. In this case, data is transmitted in onedirection, either from the robot 1 to the terminal 3 or from theterminal 3 to the robot 1.

[0141] Since the robot 1 is designed as described above, such a systemas is illustrated in FIG. 16 can be provided.

[0142] In this system, an electrode 15C is mounted on the distal end ofthe robot's leg unit 12B (FIG. 14). The system comprises a personalcomputer 101, a communication terminal 102, and a cable 103. The cable103 connects the terminal 102 to the personal computer 101. Thecommunication terminal 102 has an electrode 102A made of electricallyconductive material.

[0143] The robot 1 moves the leg unit 12B, bringing the electrode 15Cinto contact with the electrode 102A of the communication terminal 102.Data communication can thereby carried out between the robot 1 and thepersonal computer 101. While the personal computer 101 remains connectedto the Internet 104, the control program in the memory 20B of thecontroller 20 can be updated to the latest version by the controlprogram supplied from a control program server 105 that is available inthe Internet 104. The robot 1 can acquire a large amount of data fromoutside to have its characters greatly changed.

[0144] A plurality of communication terminals 102 may be arranged withinan area in which the robot 1 may walk and move around. Each terminal cantransmit to the robot 1 the data acquired at the position where theterminal is located. The data items transmitted from the communicationterminals 102 represent the positions and environmental conditions ofthe terminals 102. These data items cause the robot 1 to perform variousactions.

[0145] The user 2 may operate his or her portable terminal such as a PDAto input an E-mail. The E-mail is sent via the user 2 and stored intothe memory 20C incorporated in the robot 1. Thus, the robot 1 cantransmit the E-mail.

[0146] In this embodiment, the CPU 20A executes a program to carry out asequence of processes. Nonetheless, hardware units may be provided toperform the processes, respectively.

[0147] The program may be stored not only in the memory 20B (FIG. 3),but also in a removable recording medium, either temporarily orpermanently. Examples of the removable recording medium are a floppydisk, a CD-ROM (Compact Disk Read Only Memory), a magneto-optical disk,a DVD (Digital Versatile Disk), a magnetic disk, and a semiconductormemory. The removable recording medium is provided in the form of aso-called “package software,” which can be installed into the robot 1(more precisely, into the memory 20B).

[0148] The program may be installed into the memory 20B not only from aremovable recording medium. But also it can be installed from a downloadsite via a digital broadcasting satellite by radio or via a LAN (LocalArea Network) or the Internet 104 (FIG. 16) by a cable.

[0149] If this is the case, the program can be easily installed into thememory 20B whenever it is updated to the latest version.

[0150] In the present invention, the process steps, described in theprogram that the CPU 20A executes, need not be performed in the timesequence described in the flowcharts. Rather, the steps may be effectedin parallel or independently. For example, they can be carried out in aparallel process or in accordance with an object.

[0151] The program may be executed by either a single CPU, or the partsof the program may be executed by a plurality of CPUs.

[0152] The word “system” used herein means an apparatus that is composedof a plurality of devices.

INDUSTRIAL APPLICABILITY

[0153] In the present invention, the information that controls a petrobot is transmitted to the pet robot through a transfer medium and anelectrode provided on the pet robot. Hence, the pet robot can identifythe user.

[0154] The system according to this invention receives the controlinformation transmitted from another system, acquires action informationrelated to the control information received, and controls a robot inaccordance with the action information acquired. The robot can thereforeperform complex actions.

[0155] In the present invention, the robot can identify the user sinceit is controlled in accordance with action information. Thus, the robotcan act in various ways in response to the action the user takes to therobot.

1. An action control apparatus for controlling the actions of a petrobot, comprising: transmitting means for transmitting control datawhich controls the actions of the pet robot; and transfer means forcontacting an electrically conductive member of the pet robot through atransfer medium, thereby to transfer to the pet robot the control datatransmitted by the transmitting means.
 2. An action control apparatusaccording to claim 1, wherein the transfer medium is a human being. 3.An action control apparatus according to claim 1, which is located at aprescribed position within an area where the pet robot walks and movearound, and in which the transmitting means transmits control datarelated to the position at which the action control apparatus islocated.
 4. An action control apparatus according to claim 1, which isconfigured to be mounted on an arm of a human being.
 5. An actioncontrol apparatus according to claim 1, further comprising input meansfor inputting the control data, memory means for storing the controldata input from the input means, and display means for displaying thecontrol data stored in the memory means.
 6. An action control apparatusaccording to claim 1, wherein the control data includes dynamic dataitems and static data items concerning a user.
 7. An action controlapparatus according to claim 1, further comprising receiving means forreceiving predetermined information transmitted from the pet robot.
 8. Amethod of controlling an action control apparatus for controlling theactions of a pet robot, comprising: a step of transmitting control datawhich controls the actions of the pet robot; and a step of contacting anelectrically conductive member of the pet robot through a transfermedium, thereby to transfer to the pet robot the control datatransmitted by the transmitting means.
 9. A recording medium storing acomputer-readable program for controlling an action control apparatusfor controlling the actions of a pet robot, said program describing: astep of transmitting control data which controls the actions of the petrobot; and a step of contacting an electrically conductive member of thepet robot through a transfer medium, thereby to transfer to the petrobot the control data transmitted by the transmitting means.
 10. Anautonomous pet robot comprising: receiving means for receiving controldata from an external device; action data acquiring means for acquiringaction data corresponding to the control data received by the receivingmeans; and action control means for controlling actions in accordancewith the action data acquired by the action data acquiring means,wherein the receiving means has an electrically conductive memberexposed to outside to contact another body and is configured to receivethe control data through the electrically conductive member.
 11. A petrobot according to claim 10, further comprising memory means for storingthe action data which has been acquired by the action data acquiringmeans and which the action control means uses to control the actions.12. A pet robot according to claim 10, wherein a plurality ofelectrically conductive members of the type described are provided, andthe action control means controls the actions in accordance with whichelectrically conductive member has received the control data.
 13. A petrobot according to claim 10, which further comprises detecting means fordetecting a pressure that the other body applies to the electricallyconductive member when contacting the member, and in which the actiondata acquiring means acquires action data corresponding to the pressuredetected by the detecting means.
 14. A pet robot according to claim 10,further comprising: communication means for communicating with a dataprocessing apparatus connected to a network, by way of the electricallyconductive member; program acquiring means for acquiring a controlprogram for the action control means, from the network as thecommunication means performs communication; and updating means forupdating the control program for the action control means, in accordancewith the control program acquired by the program acquiring means.
 15. Apet robot according to claim 10, which further comprises a dataprocessing apparatus located at a prescribed position within an areawhere the pet robot walks and moves around and communication means forcommunicating with the data processing apparatus through theelectrically conductive member, and in which the receiving meansreceives, from the data processing apparatus, control data correspondingto the position of the data processing apparatus.
 16. A method ofcontrolling an autonomous pet robot, comprising: a step of receivingcontrol data transmitted from an external device; a step of acquiringaction data corresponding to the control data received at the step ofreceiving control data; and a step of controlling actions in accordancewith the action data acquired in the step of acquiring action data,wherein, at the step of receiving control data, the control data isreceived through an electrically conductive member exposed to outside tocontact another body.
 17. A recording medium recording a program forcontrolling an autonomous pet robot, said program describing: a step ofreceiving control data transmitted from an external device; a step ofacquiring action data corresponding to the control data received at thestep of receiving control data; and a step of controlling actions inaccordance with the action data acquired in the step of acquiring actiondata, whereby, at the step of receiving control data, the control datais received through an electrically conductive member exposed to outsideto contact another body.
 18. A robot control system comprising anautonomous pet robot and an action control apparatus for controllingactions of the pet robot, wherein said action control apparatuscomprises: transmitting means for transmitting control data forcontrolling the pet robot; and transfer means for contacting anelectrically conductive member of the pet robot through a transfermedium, thereby to transfer to the pet robot the control datatransmitted by the transmitting means. said pet robot comprises:receiving means for receiving the control data transmitted from theaction control apparatus; action data acquiring means for acquiringaction data corresponding to the control data received by the receivingmeans; and action control means for controlling actions in accordancewith the action data acquired by the action data acquiring means,wherein the receiving means has an electrically conductive memberexposed to outside to contact said transfer medium and is configured toreceive the control data through the electrically conductive member.